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The OOS-SIM: An On-ground Simulation Facility For On-Orbit Servicing Robotic Operations

Artigas, Jordi and De Stefano, Marco and Rackl, Wolfgang and Lampariello, Roberto and Brunner, Bernhard and Bertleff, Wieland and Burger, Robert and Porges, Oliver and Giordano, Alessandro and Borst, Christoph and Albu-Schäffer, Alin (2015) The OOS-SIM: An On-ground Simulation Facility For On-Orbit Servicing Robotic Operations. In: IEEE International Conference on Robotics and Automation (ICRA). 2015 IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, Washington, USA.

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On-orbit servicing involves a new class of space missions in which a servicer spacecraft is launched into the orbit of a target spacecraft, the client. The servicer navigates to the client with the intention of manipulating it, using a robotic arm. Within this framework, this work presents a new robotic experimental facility which was recently built at the DLR to support the development and experimental validation of such orbital servicing robots. The facility allows reproducing a close-proximity scenario under realistic three-dimensional orbital dynamics conditions. Its salient features are described here, to include a fully actuated macro-micro system with multiple sensing capabilities, and analyses on its performance including the amount of space environment volume that can be simulated.

Item URL in elib:https://elib.dlr.de/97179/
Document Type:Conference or Workshop Item (Speech)
Title:The OOS-SIM: An On-ground Simulation Facility For On-Orbit Servicing Robotic Operations
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Artigas, Jordijordi.artigas (at) dlr.deUNSPECIFIED
De Stefano, Marcomarco.destefano (at) dlr.deUNSPECIFIED
Rackl, Wolfgangwolfgang.rackl (at) dlr.deUNSPECIFIED
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Brunner, BernhardBernhard.Brunner (at) dlr.deUNSPECIFIED
Bertleff, WielandWieland.berleff (at) dlr.deUNSPECIFIED
Burger, Robertrobert.burger (at) dlr.deUNSPECIFIED
Porges, Oliveroliver.porges (at) dlr.deUNSPECIFIED
Giordano, Alessandroalessandro.giordano (at) dlr.deUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:May 2015
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:On-orbit servicing, robotic facility, HIL, telepresence, space robot, space debris, client satellite, servicer.
Event Title:2015 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Seattle, Washington, USA
Event Type:international Conference
Event Dates:26-30 May 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben On-Orbit Servicing - GNC und VR
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:09 Jul 2015 15:21
Last Modified:31 Jul 2019 19:54

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